from machine import Pin
from time import sleep

# Define pins for stepper motor control
step_pin = Pin(19, Pin.OUT)
dir_pin = Pin(18, Pin.OUT)

angle_increment = 1.8  # Angle per step in full-step mode
motor_position = 0  # Tracks the current angle of the motor

def step():
    """Triggers a single step for the stepper motor."""
    step_pin.on()
    sleep(0.05)
    step_pin.off()
    sleep(0.05)

def change_dir(direction):
    """Changes the direction of the motor."""
    global angle_increment
    dir_pin.value(direction)
    angle_increment = abs(angle_increment) if direction == 1 else -abs(angle_increment)

def move_steps(num_steps):
    """Moves the motor a specific number of steps."""
    global motor_position
    direction = 1 if num_steps > 0 else 0
    change_dir(direction)

    for _ in range(abs(num_steps)):
        step()
        motor_position += angle_increment
        print(f'Current Angle: {motor_position:.2f}°')

def move_to_angle(new_position):
    """Moves the motor to a specific absolute angle."""
    global motor_position
    angle_to_move = new_position - motor_position
    steps_to_move = round(angle_to_move / angle_increment)
    move_steps(steps_to_move)

# Interactive Serial Input
print("Stepper Motor Control")
print("Enter 's' followed by a number to move steps (e.g., s 100)")
print("Enter 'a' followed by an angle to move to (e.g., a 90)")


while True:
    user_input = input("Command: ").lower()


    
    if user_input.startswith("s"):
        steps = int(user_input.split()[1])
        move_steps(steps)

    elif user_input.startswith("a"):
        angle = float(user_input.split()[1])
        move_to_angle(angle)

    else:
        print("Invalid command. Use 's <steps>' or 'a <angle>'.")